DK2080428T3 - Process for controlling an action or a sequence of actions - Google Patents

Description

The present invention relates to an action/action sequence control process for an agricultural machine equipped with an electronic control unit and hitched to a tractor, the said tractor including at least one control means.

The present invention will be applied in the field of agricultural machinery. This field has been the subject of numerous technological innovations mainly due to the introduction of electronics. These innovations consist of improving existing functions both on the tractor and on the agricultural machine.

To accomplish the various field work and/or fodder harvesting, it is customary to use agricultural machines driven by tractors. A tractor has in particular an engine, a driver's cab, control means manoeuvred by a respective control device and a controller. The control device includes levers and/or buttons to control different control means such as the rear and front lifting devices, the rear and front power take-off shafts and the hydraulic distributors. The controller has a memory and at least one program. The controller is in particular connected to a controller subsystem for running the lifting device and a controller subsystem for running the engine and the transmission.

Driving a tractor requires the user to perform numerous repetitive actions, particularly when executing work in a plot of land (ploughing, soil preparation, sowing) where a U-turn must be performed at each end. The user must, in a very short space of time and in a specific order, initiate and/or stop several control means using the control device. To reduce the difficulty and prevent errors in operating the levers and buttons, the series of actions during a U-turn can be recorded in the controller's program as a sequence. A sequence is a set of actions to perform in a logical, chronological order and in a given space of time. The program is comprised of a series of sequences. As such, the recorded U-turn sequence can be simply and automatically reproduced at each end of the field from a single operation on the control device of the tractor.

Agricultural machines include an assembly of specific elements intended for a particular task. This assembly of elements makes the use of the machine rather complex. As such, it is known to control this agricultural machine using an electronic control unit. The electronic control unit, comprised of a microprocessor associated with one or several programs, runs the various specific elements via sequences. The program is adapted to the machine and in particular the different functions that can be utilised by the machine. The microprocessor receives and processes the information from the monitoring system and the actions from the control desk. As with the tractor, the machine's program can contain a sequence of actions to perform. As such, during a U-turn, a single action by the user on the control desk of the agricultural machine automatically initiates the appropriate sequence. The machine's different actions take place according to the predefined sequence, taking into account, if necessary, signals provided by the monitoring system.

The control electronics of the tractor are independent of the control electronics of the machine hitched to the tractor. As such, when approaching one end of the plot of land, the user triggers the tractor's U-turn sequence from the control device then initiates the machine's U-turn sequence via the control desk. During this manoeuvre, the user must control the direction and speed of the tractor, and if necessary must change speed. He must also control the driving according to the features of the tractor used (maximum turning angle, differential lock) and adapt the manoeuvre according to whether he works with a narrow or wide, short or long machine. The U-turn manoeuvres therefore require experience and concentration.

The document FR 2 764 401 relates to an automation process for repetitive tasks performed by the driver of an agricultural tractor when a machine is hitched to it. This process includes a stage of storing the actions performed by the driver on the traditional controls of the tractor and a stage of reproducing these actions on receipt of a control order by the driver. The stored actions are those performed by the driver during the manual execution of a sequence of repetitive tasks encountered during U-tum operations, for example. The inherent parameters of the machine must first be entered into the tractor's controller in order to be taken into account. Such a solution nevertheless reaches its limitations when controlling a more complex machine that has its own control means and actuators. Indeed, the tractor's controller cannot know or control the actions specific to the machine due to the lack of a sufficiently elaborate communication network.

If a machine is fitted with an electronic control unit that has its own operating program, the user must enter the parameters related to the tractor into the electronic control unit. The parameters related to the tractor must be reconfigured if there is a change of tractor.

The document DE 199 43 561 discloses a tractor with a controller that contains adjustment and/or operation programs for different machines. For the controller to choose the right program for running the machine, there needs to be a sufficiently elaborate communication network so that the tractor can know and control the actions specific to the machine. To date, this type of standard network enabling communication between the machines and the various tractors available on the market does not exist.

The document DE 103 35 112 relates to an agricultural machine including an electronic control unit and several sensors that create a monitoring system specific to the machine. These sensors provide information to the electronic control unit via a wireless connection for adjusting the machine's operating parameters. These sensors therefore do not make it possible to detect a change of state in a control means such as a power take-off shaft of the tractor.

The present invention aims to overcome the aforementioned drawbacks. Under these conditions, the invention proposes to implement a control process for simplifying the user's operation of an agricultural machine.

To this end, an important feature of the invention consists of the action or sequence of actions to perform for the agricultural machine being initiated automatically, via the control of the said electronic control unit by detecting a change of state in one of the control means of the said tractor through a monitoring system that informs the said electronic control unit. As such, the control of one or several actions does not depend on either the experience or technical ability of the user. The control process of the invention allows the user of the machine to be relieved from controlling the elements of the machine. The coordination of control between the tractor and the agricultural machine is optimised. In addition, this control process can be adapted regardless of which tractor is hitched to the machine.

The present invention also relates to an agricultural machine for the implementation of such a process.

Other features and advantages of the invention will become apparent from the claims and the following description of non-restrictive embodiment examples of the invention with reference to the attached drawings, in which: - figure 1 diagrammatically shows an agricultural machine according to the invention hitched to a tractor; - figure 2 is a side view according to a first embodiment example of a machine hitched to a tractor; - figure 3 shows a top view according to a second embodiment example of a machine according to the invention; - figure 4 shows a detailed rear view of a part of the machine in figure 3.

Figure 1 diagrammatically shows an agricultural machine (1) connected to a tractor (2). The agricultural machine (1) is intended to perform work functions (soil preparation, sowing, tedding, etc.). The tractor includes, in a known manner, a transmission element driven by an engine (3), a driver's cab (4), at least one control means (5) respectively manoeuvred by a control device (6) and a controller (7). The controller is comprised of several controller subsystems. The controller (7) includes computing functions and is the electronic control unit of the tractor (2). The controller (7) makes it possible to monitor the operating parameters of the tractor (2) and detect any problems, therefore it is connected to all of the sensors and probes that provide information about the state of the engine (3) and the control means (5).

The agricultural machine (1) includes a hitching device (8), an assembly of specific elements (9) intended for a particular task and an electronic control unit (10). The electronic control unit (10) is comprised of a microprocessor associated with one or several programs and runs the various specific elements via sequences. If applicable, the machine includes a control desk (12). The machine (1) is hitched to the tractor (2) via the hitching device (8). The tractor (2) tows the machine (1) in its movement in a direction (A) and may operate its specific elements (9).

The operation of at least one of the control means (5) of the tractor (2) and/or one or several specific elements (9) of the machine (1) is controlled by a monitoring system (11). This monitoring system (11) makes it possible to record the operating features of the tractor (2) and/or of the machine (1). The monitoring system (11) is comprised of sensors and/or probes. The appropriate sensors or probes are chosen according to the type of control means (5) or specific element of the machine to monitor. The information recorded via these sensors or probes is sent to the electronic control unit (10), which can interpret it. Sensors exist that can measure a pressure, a rate or a rotational speed. Any other form of sensor providing information making it possible to deduct the operating features of a control means (5) or a specific element can be used.

According to an important feature of the invention, the action or sequence of actions to perform, in the agricultural machine (1), is automatically initiated via the control of the electronic control unit (10) by detecting a change of state in one of the control means (5) of the said tractor (2) through a monitoring system (11) that informs the said electronic control unit (10).

Thus, a change of state in one of the control means (5) connected to the machine (1) is detected via the said monitoring system (11). The monitoring system (11) then informs the electronic control unit (10). The detection of the change of state in one of the control means (5) triggers, via the control of the said electronic control unit (10), the initiation of an action or a sequence of actions for the said machine (1). A sequence is an action or a set of actions to perform in a logical, chronological order and in a given space of time. The tractor (2) drives the machine (1), which comprises rotating parts and/or jacks, via at least one control means (5). The initiation of an action is exclusively carried out via the control of the electronic control unit (10) of the machine (1) in the automatic mode. Thanks to this detection of a change of state, the coordination of control between the tractor (2) and the machine (1) is optimised. Thus, the control of at least one specific element of the machine (1) does not depend either on the experience or technical ability of the user.

The automatic mode is the control detection mode of at least one control means (5) of the tractor (2). In this mode, the detection of the change of state of a control means (5) triggers the initiation of one or several actions in the machine (1). Thanks to this detection, the electronic control unit (10) of the machine (1) is informed of the user's action or intention, in particular relative to his operation of the control device (6) of the tractor (2). The change of state of one of the control means (5) can also be part of a sequence of the tractor (2) previously initiated by the user.

According to a preferential embodiment, the monitoring system (11) is based only on the sensor(s) relating to the machine (1). It controls the sensors that are placed on the machine (1) and informs the electronic control unit (10) of the machine (1). In another embodiment, the sensors can be placed on one hand on the machine (1) and on the other hand on the tractor (2). In another case, the sensors are only placed on the said tractor (2) and the electronic control unit (10) has access to the information via a communication network or a direct information feed in the driver's cab (4) through a signal coupler.

The control device (6) of the tractor (2) is integrated into the driver's cab (4). It is comprised of a process interface system and/or a screen to display the information communicated by the controller (7) to the user. The process interface system is used to manoeuvre the control means (5) through traditional control means such as levers (13) and/or buttons (14). The control means (5) of the tractor (2) to drive a machine (1) are advantageously actuators such as a coupling device (15) or a power take-off shaft (16). A control means (5) can also be a power distributor such as a hydraulic distributor (17) or an electric power distributor. Generally speaking and as shown in figure 2, the standard equipment of a tractor (2) is comprised of a coupling device (15) and a power take-off shaft (16) at the rear and hydraulic distributors (17). The most recent tractors also have a coupling device and a power take-off shaft at the front.

Figure 2 shows a combine seeder-type agricultural machine (1) hitched to a tractor (2). The tractor (2) has a rear coupling device (15) and a rear power take-off shaft (16). The coupling device (15) is advantageously a three-point hitch. This machine is semi-mounted; it is hitched to the two lower arms of the three-point hitch of the tractor (2) using a drawbar (20). The combine seeder includes a drawbar (21) and rests on the ground by means of a carriage (22) fitted with wheels. It is comprised of a work tool (23) and a seeder (24). The work tool (23) prepares the bed of seeds. In the example shown, this is a rotary harrow that includes rotors connected to the casing; the rotors are each equipped with two blades (25). The rotors are driven around a respective vertical axis from the power take-off shaft (16) of the tractor (2). The power take-off shaft (16) drives the rotors via a central casing by means of a transmission (26) such as a telescopic shaft with universal joints. The crumbling of the earth achieved depends on the rotational speed of the rotors, the speed of advance and the consistency of the soil. The rotary harrow includes a roller (27) at the rear to repress the soil and control the working depth.

The tool (23) extends substantially horizontally and perpendicularly to the direction of advance (A). It is positioned between the drawbar (21) and the carriage (22). It is connected on one hand to the drawbar (21) via a first parallelogram (28) and on the other hand to the carriage (22) via a second parallelogram (29). Each parallelogram (28, 29) is deformable by means of a respective jack (30, 31). The parallelograms (28, 29) enable the tool (23) to move substantially vertically and substantially parallel to the soil. The movement substantially parallel to the surface of the soil is achieved thanks to a synchronised powering of the jacks (30, 31). A more detailed description of these elements is available in the document FR 05 53622.

During work, the user does not change the height of the coupling device (15) of the tractor (2). The control of the vertical movement of the tool (23) is handled by the electronic control unit (10) in combination with the monitoring system (11). The electronic control unit (10) is connected to the monitoring system (11), which among other items includes a sensor (32) controlling the rotational speed of the transmission (26) of the rotary harrow. By controlling the rotational speed of the transmission (26), the electronic control unit (10) is informed of the rotation of the power take-off shaft (16) of the tractor (2). The transmission (26) is connected to the power take-off shaft (16) of the tractor (2) for the work.

Based on the operating and/or positional information received from the monitoring system (11), the electronic control unit (10) can automatically control the action(s) of the specific elements (9) of the machine (1). Programs are recorded in the electronic control unit (10) in the form of sequences for the repetitive actions that are initiated for example during a U-turn at the end of the field. Thus, the electronic control unit (10) initiates the action: the movement of the tool (23) upwards by powering the two jacks (30, 31) when the sensor (32) detects a zero rotational speed in the transmission (26). When the rotational speed of the transmission (26) is zero, this is because the user has pressed the button (14) or activated the lever (13), causing the stop of the power take-off shaft (16) or that the stop of the power take-off shaft (16) formed an integral part of a sequence of the tractor (2) initiated by the user. It is known to programme the repetitive actions that trigger during a U-turn at the end of the field in the form of sequences from the control device (6) for the tractor (2).

The electronic control unit (10) of the machine (1) controls the specific functions of the tool (23) on one hand and the seeder (24) on the other hand. The seeder (24) is placed behind the tool (23) taking into account the direction of advance (A). Thus, the preparation of soil and the sowing are carried out in a single pass. Thanks to this combination, working hours for the planting of seed are reduced, packing down of the soil is limited and the costs are reduced. The seeder (24) includes in particular, in a known manner, a hopper (33) and furrow openers or depositing elements (34). The hopper (33) is, preferably, positioned on the carriage (22) and the furrow openers (33) are attached behind the said carriage (22) in a height-adjustable manner using a coupling device and jacks. The hopper (33) is the seed stock and a distribution makes it possible to extract from the hopper (33) a determined quantity of product and to keep this metering constant regardless of the work conditions. In the case of a pneumatic conveying seeder, the seed is conveyed to the elements (34) in flexible pipes by an airflow. The airflow is generated by a turbine driven for example by the power take-off shaft (16) of the tractor (2). Thanks to the pneumatic conveying of the seeds to the elements (34), the work width is not affected by the width of the hopper (33). The element (34) creates a furrow of a particular depth for placing the seeds in and covering them with earth. The depositing element (34) is usually linked with a covering element.

The seeder (24) being positioned at the rear of the tool (23), it is profitable to delay the sowing to avoid depositing the seeds in a soil that has not been broken up and levelled. The "start of work" specific sequence of the electronic control unit (10) makes it possible to manage the delayed start-up of the seeder (24) relative to the tool (23). The electronic control unit (10) is capable of determining, thanks to the specific parameters of the machine (1), the place where the seeder (24) must begin sowing. The delay between the positioning of the tool in the ground (23) and that of the furrow openers (34) of the seeder (24) enables a reduction in the width of the furrows at the ends of the field.

Thanks to the automatic detection mode, the electronic control unit (10) can thus control the sequence of actions: upwards movement of the rotary harrow, stop of the distribution and raising of the furrow openers (34) when the rotation of the transmission (26) respectively of the power take-off shaft (16) is stopped at the approach to an end of the field. To do so, the user has pushed either the button (14) that stops the rotation of the power take-off shaft (16) or the button that launches the sequence of the tractor (2) including stopping the rotation of the power take-off shaft (16). When the power take-off shaft (16) has stopped turning, the tool (23) is released from the soil and the tractor (2) continues to advance; the elements (34) of the seeder automatically lift up so that a U-turn can be made at the end of the field. To resume work when the machine (1) and the tractor (2) are aligned, the user pushes the button to make the power take-off shaft (16) turn. The sensor (32) detects this change of state and sends information to the electronic control unit (10), which initiates the sequence of actions: retraction of the jacks (30, 31), positioning of the tool in the ground (23), start-up of the seed distribution and lowering of the furrow openers (34) for sowing. Both the tool (23) and the seeder (24) are in contact with the earth during the work, while for transport they are raised.

Thanks to this control process in automatic detection mode, the user's operation is therefore simplified. The user will only operate a lever (13) or a button (14) before the U-tum and can therefore be more attentive and available for driving the tractor (2). The U-turn sequence of the machine (1) is synchronised with the U-turn sequence of the tractor (2). The machine productivity is improved, as the time required for U-turn manoeuvres is reduced. The risks of interference between the tractor (2) and the machine (1) will be reduced. In addition, the electronic control unit (10) includes the parameters inherent to the machine and all of the programs necessary for its operation. Thus, even if a machine is complex in its operation, the electronic control unit (10) is capable of controlling it. It draws on the monitoring system (11), particularly the information from the sensors fitted to the machine. This control process is functional regardless of which tractor is drawn or drives the machine.

The coupling bar (20) is connected to the drawbar (21) by an articulation (35) of a substantially vertical axis. Thanks to this articulation (35) enabling significant angles of movement between the drawbar (21) and the coupling bar (20) connected to the lower arms of the coupling device of the tractor (2), the running surface on the edge of the field in particular for U-turns is therefore reduced and the manoeuvrability to align the machine (1) with the tractor (2) is improved. These significant running angles require the power take-off shaft (16) to be stopped during each U-turn and make the process described particularly profitable. In an embodiment example not shown, the end of the drawbar (21) is fitted with a tow ring or a coupling ball. Such an articulation (35) is then not necessary, as the tow ring or coupling ball allows the pivoting movement around a vertical axis.

Other specific functions of the machine (1) are executed from the electronic control unit (10), for example the "marker" function or the "fertilisation" function. The seeder (24) has side markers that mark lines that the tractor (2) will follow during the next pass. With a suitable program, the electronic control unit (10) manages the lowering and raising of the side markers. When a fertilisation is adapted on the seeder (24), the sowing and deposit of fertiliser are carried out in a single pass. The electronic control unit (10) then also controls the start-up/stop of the fertilisation metering device. The seeder (24) is equipped with fertilising shares in addition to the furrow openers (34), such as drill coulters. In this case, the hopper (33) is divided into two parts, one for the seeds and the other for the fertiliser. An alternative is to include an additional hopper placed next to the hopper (33) of the seeder.

In the case of a foldable machine, the transmission (26) is replaced by a primary transmission and two secondary transmissions. A sensor (32) is placed on each secondary transmission. According to another embodiment example not shown, the tool (23) and the seeder (24) are made of more than two parts.

Depending on the technical nature of the machine (1), the electronic control unit (10) is comprised of several subsystems. In the case of an agricultural machine (1) with a control desk (12) the latter is placed in the driver's cab (4). It includes control elements and/or displays. A hand grip can be included in the desk (12). This facilitates access to the controls.

Figure 3 shows a haymaking machine, in particular a tedder including a frame (40) that can be attached to a tractor used to drive it and move it in a direction of advance (A). Figure 3 is a partial top view. The frame (40) supports several tedding rotors (41) that can occupy a work position in which they are substantially perpendicular to the direction of advance (A) and a transport position in which the rotors (41) are folded towards the middle and front of the machine to reduce its width and height. The frame (40) includes a central structure (42) and two side structures (43) that support the rotors (41). Figure 4 shows a part of the frame (40) of the machine (1). The side structures (43) are articulated on the central structure (42) by means of substantially vertical axes (44). Each side structure (43) includes an articulation axis (45) that is substantially horizontal and directed in the direction of advance (A) in the work position. A first hydraulic jack (46) is linked with each side structure (43) to move it around the corresponding articulation axis (45). A second hydraulic jack (47) is linked with each side structure (43) to move it around the substantially vertical articulation axis (44). In a known manner, each side structure (43) includes an inner section supporting two rotors (41) and five side sections each supporting one rotor (41). The number of side sections can vary depending on the desired working width. The different sections are connected to each other by means of articulation axes (48) directed in the direction of advance (A) in the work position. These articulation axes (48) allow the sections to pivot relative to each other in order to follow the unevennesses of the ground. The said pivoting is limited by means of stops located on either side of the articulation axes (48).

Each side structure (43) includes two side sections situated as far to the outside as possible, which can be folded by an angle of approximately 180° around the articulation axis (48) of the second-to-last side section. This allows the outside side sections to be folded down on the neighbouring sections to reduce the width of the side structures (43), particularly for transport. The said folding is handled on each side by means of a corresponding third hydraulic jack (49) . The front part of the central structure (42) includes support wheels (50) that roll over the ground during work and transport. In the work position, they carry the front part in order to relieve the wheels of the rotors (41). In the transport position, they also carry the rear part and the side structures (43). The said wheels (50) are positioned on supports that are height-adjustable around an axis (51). A fourth hydraulic jack (52) is used to raise or lower the support wheels (50) around the axis (51). Additional details for this tedder are available in the document FR 2 890 526.

The tractor (2), the specific elements (9), in particular the jacks (46, 47, 49, 52) of the machine (1), and the monitoring system (11) are shown diagrammatically in figure 3. The jacks are connected by a hydraulic circuit to the hydraulic source, including a tank, a pump and at least one distributor (17). Such a hydraulic source is usually available on the tractor (2) towing the machine (1). It could nevertheless also be arranged for it to partially or totally form part of the said machine (1). The distributor (17) can be placed in three positions. The lever (13) allows one of the positions to be selected. The monitoring system (11), comprised of two sensors (53, 54), makes it possible to detect the direction of oil flow in the circuit. The sensors measure the pressure and/or the oil flow rate at the output of the hydraulic source. In the case of a tedder as previously described, the electronic control unit (10) contains a program with at least two sequences of actions, particularly one sequence of actions concerning the closure movements and another concerning the opening movements.

When one of the sensors (53, 54) detects pressure in one of the circuit pipes, the electronic control unit (10) is informed and then initiates the appropriate sequence of actions. In the diagram in figure 3, the user operates the lever (13) to control the opening of the tedder. The sensor (53) detects significant pressure in the first supply pipe. This detection triggers a series of movement actions for the elements of the tedder to switch to the work position. First of all, the two jacks (47) are powered so that they move the side structures (43) to the rear around the substantially vertical articulation axes (44). Next, the powering of the fourth jack (52) to raise the wheels (50) followed by the powering of the first jacks (46) so that they lower the side structures (43) around the articulation axes (45) to a position in which the wheels of the rotors (41) touch the ground and to finish the powering of the third jacks (49) to unfold the two outside side sections. The different jacks are equipped with end position sensors, which in connection with the electronic control unit (10) ensures the completion of each action. A position sensor is also provided at the articulation axis (44).

When the user wants to switch to the transport position, it operates the lever (13) in the other direction; at this point it is the other sensor (54) which detects a change of state relative to the oil pressure, which is significant, and this sensor (54) informs the electronic control unit (10). Under the control of the electronic control unit (10), this detection triggers the initiation of the sequence of closure actions. The order of the actions described above is then reversed. The electronic control unit (10) initiates the folding of the two outside side sections via the third jacks (49) then the raising of the side sections (43) around the substantially horizontal articulation axes (45) until they are in a position in which the wheels of the rotors (41) no longer touch the ground via the first hydraulic jacks (46). Next, the ground clearance is increased (the wheels (50) of the central structure (42) are lowered) via the fourth hydraulic jack (52) and finally the forward movement of the side structures (43) around the substantially vertical articulation axes (44) via the second jacks (47). In this position the two side structures (43) are substantially parallel and the total width of the machine is then less than the total width in the work position of the two rotors (41) situated in the middle of the machine. The said side structures (43) can then rest on supports positioned on the central structure (42) and can be immobilised there.

Thanks to the monitoring system (11) and the control of the electronic control unit (10), the various movements of the side structures (43) are coordinated and take place in succession regardless of the user's experience. The risk of interference between the different rotors (41), the side structures (43) and the central structure (41) is eliminated. To ensure optimal safety in the control process, the different positions of the outside side sections of the side structures (43) are controlled by position sensors.

The invention applies to all machines that implement the control process described.

It is clear that the invention is not limited to the embodiments described above and shown in the attached drawings. Modifications remain possible, particularly concerning the composition or number of the various elements or by substituting technical equivalents, without departing from the scope of protection as defined by the following claims.

The machine in the invention is mounted, trailed or semi-mounted.

Claims (10)

A process for controlling an action or sequence of actions for an agricultural machine (1) provided with an electronic box (10) and connected to a tractor (2), the tractor (2) comprising at least one control means (5), characterized by the act or sequence of actions to be performed from said agricultural machine (1) is triggered automatically via the control of the electronic box (10) by tracking a state change in one of the control means (5) of said tractor (2) by a monitoring system (11) that sends information to said electronic box (10). Control process according to claim 1, characterized in that said control means (5) is an actuator connected to said agricultural machine (1). Control process according to claim 1 or 2, characterized in that the control means (5) associated with said agricultural machine (1) is a power take-off shaft (16) connected to a power transfer (26) from said agricultural machine (1), and said monitoring system ( 11) consists of a sensor (32) which measures the speed of rotation. Control process according to claim 1 or 2, characterized in that the control means (5) connected to said agricultural machine (1) is a hydraulic distributor (17) and said monitoring system (11) consists of at least one pressure or flow meter. Steering process according to any one of claims 1-4, characterized in that said monitoring system (11) is mounted on said agricultural machine (1) and / or said tractor (2). Control process according to claim 5, characterized in that when the monitoring system (11) is placed on the tractor (2), said electronic box (10) has access to data via a communication network or via a direct data outlet in the driver's cab (4) through a signal connection. Control process according to any one of claims 1-6, characterized in that said electronic box (10) consists of a microprocessor connected to a program and that it controls the various specific parts of the agricultural machine via at least one sequence. Control process according to any one of claims 1-7, characterized in that said electronic box (10) is made up of several boxes, each constituted by a microprocessor and a program interconnected by means of a communication means. and said electronic box (10) controls the various specific parts (9) of said agricultural machine (1) via at least one sequence. An agricultural machine for carrying out the process for controlling an action or a sequence of actions, wherein said agricultural machine (1) is equipped with an electronic box (10) and is connected to a tractor (2), wherein said tractor (2) comprises at least one control means (5), characterized in that the action or sequence of actions is controlled by a process according to any one of claims 1-8. Agricultural machine coupled to a tractor according to claim 9, characterized in that said agricultural machine (1) comprises a control desk (12).